Autonomous People MoverP15241

Team Members: Nick Bovee, Pat Gelose, Katie Knowles, Due Lee, Keith Martin, Mollie

Pressman, and Jonathan Zimmermann Project Guild: Dr. Rick LuxProject Customer: Dr. Raymond Ptucha

Overview

• Customer Needs • Project Definition• Engineering Requirements• System Architecture• Design Summary• System Testing• Project Evaluation• Suggestions for Future Work

Project Description

• Modify an electrical golf cart to be controlled remotely.

• The created vehicle will be used as a base for an autonomous vehicle.

Customer Requirements• Vehicle safety top

priority for both passengers and bystanders.

• Focused on expandability for future projects.

Importance Customer Need

9 Self Steering

9 Able to drive forward and reverse

9 Communicates speed

9 Focused on passenger and bystander safety

9 Controller can stop cart remotely

9 Passenger can stop cart with brake

9 Cart will stop out of range

9 Moves when controlled remotely

9 Allows the passenger to take over steering

9 Robust

9 Ready for Imagine RIT

9 Within budget

6 Able to communicate GPS location

6 Protects passengers from impact of rapid braking

6 Indicates driving mode

6 Weatherproof

3 Clear documentation

3 Simple design

3 Space for future projects

3 Holds 2 Passengers

1 All-Weather Driving

1 Able to identify surroundings to avoid collision

1 Noticeable Appearance

Green Achieved

Yellow Partial Success

Red Failed

Grey Future Project Goal

Engineering Requirements & Results• Emergency

stopping time critical to ensure safety.

• Imagine RIT deadline.

• Remote range and response time.

Engr. Requirement (metric)Unit of

MeasureMarginal Value Ideal Value Results

Digital angle measure of front wheels degrees ±1 ±.5 0.5

Maximum reverse speed mph 3 5 5

Maximum forward speed mph 10 12 12-5 remotely

Accuracy of physical location meters 6 2 3

Emergency stop response breaking time from full speed s 3 1.5 1.85

Remote control range meters 15 25 1000+

Maximum weight kg 375 350 340

Passengers persons 1 2 2

Percentage of documents easily accessible % 90 100 95

Predicted mean time between maintenance days 7 10 15/4

Available space for future projects m^3 0.05 0.1 8

Factor of safety for mechanical parts   2 2 2+

Measurement of rear wheel speed m/s ±1 ±.5 1

Number of driving modes # 2 2 2

Cart response time to remote control s 1 0.5 0.1

Parts for solution within budget $ 2000 2000 1900+donations

Operational during Imagine RIT date 5/2/14 4/24/14 Morning Only

Light showing mode visibility m 20 30 40+

Moisture resistance Pass/Fail IPX1 IPX1 Fail

Green Achieved

Yellow Partial Success

Red Failed

Note: times include human error (±.3seconds)

System Architecture

Remote Control

Throttle Arduino Due

Signal Conditioning

Golf-Cart Motor Controller Electric Motor

Brake Actuator Controller Brake Actuator

Main Arduino Due

Throttle Arduino Due

Steering Arduino Due

Dashboard

Emergency Buttons

Steering Arduino Due

Signal Conditioning

Power Steering Unit

Design SummaryMechanical• Braking:

– Actuator used to pull the brake cable.

– Actuator uses cable and pulley wheel to align cable with brake pedal.

• Steering:– WickedBilt power steering unit

installed in-line with steering column.

• Throttle:– Stock golf-cart motor assembly

used.

Design Summary ContinuedElectrical• Braking:

– 12 V Current controller used for actuator.

– Actuator built-in potentiometer used for feedback.

• Steering:– 0 – 5 V Differential signal used

as input into wicked bilt system.

• Throttle:– 0 – 3.3 V signal injected into the

stock golf cart motor controller.

Project Evaluation

• Provided a good base prototype of remote control vehicle

• Future revisions are required to provide reliable platform for autonomy

• Important experience in multidisciplinary engineering environment

Future Work

• Design revision of electrical systems to ensure robustness.

• Additional weather proofing.• Sensor Installation.• Autonomy development.

Questions?